A.2.6.6
Load Filter Command
This command must be used after loading the appropriate gains, integrators, linears, etc. for the
filter. The actual digital filter will not change until after issuing this command.
Command format:
@8LOA cd<cr> <lf>
Parameters:
c:
selected axis; 'A' - 'D'. Must be specified.
d:
filter number according to the list in paragraph A.3.
Response:
@8<ack><cr><lf>
Example commands: @8LOA A1<cr><lf>
A.2.6.7
Axis Command Limiting
Command format:
@8LIM [a] R<cr> <lf>
or
@8LIM [a] Wx[,y][,z]<cr> <lf>
Parameters:
a:
selected axis (optional); 'A' - 'D'. If no axis specified, 'A' is
assumed.
x:
the limiting value to be used on the output of the servo loop posi-
tion filter. This is a decimal value in percentage. For example, 50.0
indicates 50 % limiting.
y:
the limiting value to be used on the rate of change of the output of
the servo loop position filter. This is a decimal value in percent per
second. For example, 50.0 indicates that the output is only allowed
to change by 50 percent of full scale in one second. Actually, the
change is limited at the loop sample rate to be 0.02 times the limit-
ing value (50 percent would mean a maximum filter output delta of
1 percent of full scale per sample). This limiting is done before the
limiting for 'x' above.
z:
the limiting value to be used on pedestal velocity when in the rate
mode of operation. This is a decimal value in degrees/second (i.e.,
35.0 (d/s))
Response:
@8<ack>x,y,z<cr><lf>
for read
@8<ack><cr><lf>
for write
3862 Autotrack Controller
A-29
REMOTE INTERFACE COMMANDS
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